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Quaternions 2023-11-23 18:59:52 -08:00
parent 3cc006d3fb
commit b8a0ae6606
1 changed files with 3 additions and 2 deletions
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src/model_physics.rs
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@ -381,6 +381,7 @@ impl MinkowskiMesh<'_>{
let mut best_transition=Transition::Done; let mut best_transition=Transition::Done;
for &directed_edge_id in self.vert_edges(vert_id).iter(){ for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id); let edge_n=self.directed_edge_n(directed_edge_id);
let edge_nn=edge_n.dot(edge_n);
//is boundary uncrossable by a crawl from infinity //is boundary uncrossable by a crawl from infinity
if infinity_dir.dot(edge_n)==Planar64::ZERO{ if infinity_dir.dot(edge_n)==Planar64::ZERO{
let edge_verts=self.edge_verts(directed_edge_id.as_undirected()); let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
@ -395,10 +396,10 @@ impl MinkowskiMesh<'_>{
} }
//test the edge. negative because this is from the opposite vert's perspective. //test the edge. negative because this is from the opposite vert's perspective.
let d=-diff.dot(edge_n); let d=-diff.dot(edge_n);
if Planar64::ZERO<=d&&d<=edge_n.dot(edge_n){ if Planar64::ZERO<=d&&d<=edge_nn{
let distance_squared={ let distance_squared={
let c=diff.cross(edge_n); let c=diff.cross(edge_n);
c.dot(c)/edge_n.dot(edge_n) c.dot(c)/edge_nn
}; };
if distance_squared<=*best_distance_squared{ if distance_squared<=*best_distance_squared{
best_transition=Transition::Edge(directed_edge_id.as_undirected()); best_transition=Transition::Edge(directed_edge_id.as_undirected());